A deep well rescue device
By combining a fixed tripod and rescue robot with a winch traction module, clamping device, and airbag fixation, the problem of young children and others being unable to secure themselves in deep wells was solved, achieving safe and efficient rescue and avoiding secondary injuries and collision risks during the lifting process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HENAN YUXIN FIRE EQUIPMENT CO LTD
- Filing Date
- 2025-05-28
- Publication Date
- 2026-06-02
AI Technical Summary
In traditional deep well rescue methods, especially when young children are trapped in deep and narrow wells, existing devices cannot effectively secure them, making rescue difficult and easily causing secondary injuries.
By using a fixed tripod and rescue robot, combined with a winch traction module, gripping device, airbag fixation and camera monitoring, the trapped person can be stably secured and lifted, avoiding secondary injury.
It improved the efficiency and accuracy of rescue, avoided secondary injuries to trapped personnel during the rescue process, provided underground survival conditions, and ensured the safety and reliability of the rescue.
Smart Images
Figure CN224307708U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of fire emergency rescue technology, specifically a deep well rescue device. Background Technology
[0002] Deep well rescue is a crucial task in emergency rescue operations, especially in rural areas or construction sites where deep well accidents are frequent. Young children and others who fall into deep and narrow wells face even greater difficulties, as rescue team members cannot descend into the wells and young children lack the ability to cooperate with surface rescue equipment to save themselves.
[0003] Traditional deep well rescue methods typically rely on manual descent or the use of simple rope devices, such as telescopic poles and anchor straps. The trapped person is secured with the anchor straps and then pulled to the wellhead using the telescopic pole. However, anchor straps are not very adaptable and require the trapped person to operate them themselves. Young children often lack the ability to secure themselves, and the confined environment of a well makes it difficult for them to operate the anchor straps independently. Reckless operation can easily lead to the trapped person slipping and sustaining secondary injuries. Furthermore, the instability of the anchor straps during the lifting process can cause the trapped person to collide with the well wall, again increasing the risk of secondary injuries during the rescue. Utility Model Content
[0004] The purpose of this invention is to provide a deep well rescue device that can improve rescue efficiency while avoiding secondary injuries to trapped personnel during the rescue.
[0005] The technical solution of this utility model is:
[0006] A deep well rescue device includes: a fixed tripod and a rescue robot. The rescue robot includes: a main frame; a winch traction module including: a steel cable winch mounted on the main frame via a winch shaft; a rescue steel cable wound around the steel cable winch, with both ends connected to the fixed tripod and the steel cable winch respectively; a clamping device including: two clamping plates, each clamping plate having a through groove; an airbag mounted on the clamping plates via a fixing member, the airbag being inflated and deflated via an air supply module; the fixing member is a bolt used to fix the airbag to the clamping plates. A wellhead adaptation adjustment device is located at the bottom of the main frame and is connected to two clamping plates to control the distance between the two clamping plates. A clamping plate under-insertion angle adjustment device is used to adjust the position of the clamping plates on the circumference of the well, comprising: a roller installed in the through groove with the wheel body in contact with the well wall; a motor connected to the roller shaft to drive the roller to rotate; and a controller connected to the gas supply module, winch traction module, wellhead adaptation adjustment device, and motor via an electrical control communication module, which is located on the main frame.
[0007] Furthermore, the wellhead adaptation adjustment device includes: a screw assembly, comprising: a screw rod, one end of which is rotatably connected to the bottom of the main frame and equipped with a screw drive motor; a slider, having a threaded hole, which is sleeved on the screw rod through the threaded hole, and both ends of the slider having through holes; a guide rod, connected to the bottom of the main frame and slidably sleeved in the through holes, used to restrict the rotation of the slider; two actuators, each actuator including: a first actuator rod, one end of which is hinged to the slider; a second actuator rod, one end of which is hinged to the main frame and the other end of which is hinged to the clamping plate; a connecting rod, one end of which is hinged to the other end of the first actuator rod and the other end of which is connected to the second actuator rod; and two auxiliary rods, each auxiliary rod having one end of which is hinged to the clamping plate and the other end of which is hinged to the main frame.
[0008] During operation, the screw drive motor rotates, causing the screw to rotate and the slider to move up and down, thereby realizing the rotation of the first actuator. Finally, the clamping plates separate and close to adapt to different wellhead sizes.
[0009] Furthermore, the winch shaft of the steel cable winch is connected to a winch drive motor.
[0010] Furthermore, it also includes: a first camera, located at the bottom of the main frame; and a second camera, located at the bottom of the clamping plate; the first and second cameras are wirelessly connected to the controller and transmit the captured images to the controller, which can be connected to an external display to display the images captured by the first and second cameras.
[0011] Furthermore, the airbag is housed in a rubber storage bag, which has a vertical opening. Before inflation, the airbag is stored in the rubber storage bag through the vertical opening; after inflation, the airbag is extruded from the vertical opening.
[0012] During operation, the uninflated airbag is first placed inside the rubber storage bag to prevent it from protruding and reduce the thickness of the clamping plate after installation. When the clamping plate rescue robot descends to the bottom of the deep well to secure the trapped person, the airbag inflates under the control of the air supply module, protruding from the inside of the rubber storage bag to secure the trapped person. After use, the airbag is deflated and then tucked back into the rubber storage bag for safekeeping.
[0013] Furthermore, the air supply module is mounted on the main frame and connected to the airbag via an air pipe. An air inlet is provided on the clamp, and the air inlet and the air supply module are connected via a pipe.
[0014] When using:
[0015] A fixed tripod was erected at the wellhead of the trapped deep well to ensure it was secure to the ground and had sufficient height to launch the rescue robot.
[0016] Secure the rescue cable on the rescue robot to the top of the tripod, and lower the rescue robot into the trapped deep well using the gripping device;
[0017] The air tube is installed on the rescue robot, the air supply module is turned on, and fresh air is delivered to the air inlet of the rescue robot through the air tube. The rescue robot controller is controlled to operate the winch traction module to rotate and lower the rescue robot to the location of the trapped person. During this process, the posture and status of the trapped person are monitored through the first and second cameras.
[0018] Control the wellhead adaptation adjustment device so that the two side clamps open and fit against the well wall inside the trapped deep well;
[0019] Observe the trapped person's posture in the well, adjust the clamp insertion angle adjustment device, find the angle and position required to lower the clamp to below the trapped person, and control the winch traction module to insert the clamp to below the trapped person; during this process, the insertion position is monitored through a second camera.
[0020] The control air supply module supplies air at a certain pressure to the airbag in the clamping device, so that the airbag inflates and expands out from the vertical opening of the rubber storage bag, and the trapped person is fixed by the airbag on the two clamps.
[0021] The wellhead adjustment device is controlled to reduce the distance between the two clamping plates. As the top of the clamping plates contracts, the bottom expands due to the inflation of the airbags, resulting in uneven contraction of the upper and lower clamping plates. This increases the distance of the top contraction of the clamping plates, creating a certain angle to facilitate the lifting of the rescue robot out of the deep well. The bottom of the clamping plates rests against the well wall of the trapped deep well, and together with the fixing and compression effect of the airbags, it increases the fixation effect on the trapped personnel. Then, the winch traction module is controlled to retract the rescue steel cable, slowly lifting the rescue robot and the trapped personnel out of the wellhead. At the same time, the airbag part of the clamping plates is kept in the trapped deep well, waiting for the rescuers to grab the trapped personnel. Then, the air supply module is controlled to release the airbags, rescuing the trapped personnel from the rescue robot, completing the rescue.
[0022] Compared with the prior art, the beneficial effects of this utility model are:
[0023] 0. This utility model utilizes a fixed tripod and a rescue robot to rescue trapped personnel from wells. The robot descends into the well to rescue the trapped individuals, avoiding the safety risks associated with human rescuers. Furthermore, the rescue robot can handle narrow, deep wells where human rescuers cannot easily access. The robot's position within the well is controlled by a winch traction module, and the distance between the two clamping plates is adjusted via a wellhead adaptation device, ensuring the plates fit snugly against the well wall. This design is suitable for rescues in deep wells of varying opening sizes. The casters on the well wall roll to adjust the radial position of the clamping plate inside the well, allowing the clamping plate to be smoothly inserted under the trapped person's body. At this point, the airbag is inflated to secure and support the trapped person from below. Simultaneously, the gap between the clamping plates is reduced to improve the airbag's securing effect on the trapped person. Then, the trapped person can be pulled out of the deep well using the winch traction module. This not only avoids injury to the trapped person from the rescue equipment during the rescue, but also avoids secondary injuries caused by the trapped person colliding with the well wall or falling again due to unstable securing of the rescue device.
[0024] 0. This utility model can monitor the situation of trapped personnel underground through a first camera and a second camera, which facilitates the formulation of rescue strategies on the ground and adjusts the angle and position of the clamping device according to the location of the trapped personnel. This not only avoids the problem of the clamping device colliding with the trapped personnel, causing injury or slippage, but also greatly improves the efficiency and accuracy of the rescue.
[0025] 0. The air supply module of this utility model is not only used to evacuate the airbag, but also has an air delivery pipeline to transport fresh air from the ground to the well, providing the basic survival conditions for the trapped personnel and buying more time for rescue. Attached Figure Description
[0026] Figure 1 This is a schematic diagram of the structure of the deep well rescue robot of this utility model.
[0027] Figure 2 for Figure 1 Schematic diagram of the winding module structure.
[0028] Figure 3 for Figure 1 Schematic diagram of the wellhead adaptation device.
[0029] Figure 4 for Figure 1 Schematic diagram of the middle clamping plate lower insertion angle adjustment device.
[0030] Figure 5 for Figure 1 A schematic diagram of the clamping device during operation.
[0031] Figure 6 for Figure 1 A schematic diagram of the clamping device being inserted downwards.
[0032] Figure 7 A schematic diagram of the installation structure for deep well rescue applications.
[0033] The components include: 1. Fixed tripod; 2. Rescue cable; 3. Trapped deep well; 4. Rescue robot; 5. Trapped personnel; 6. Ground; 4-1. Winch traction module; 4-2. Gas supply module; 4-3. Electrical control and communication module; 4-4. Winch drive motor; 4-5. Clamping plate angle adjustment device; 4-6. First camera; 4-7. Clamping plate; 4-8. Clamping device; 4-9. Second camera; 4-10. Gas pipe; 4-11. Wellhead adaptation adjustment device. 4-12, Screw; 4-13, First actuator; 4-14, Slider; 4-15, Screw drive motor; 4-16, Auxiliary rod; 4-17, Second actuator; 4-18, Motor; 4-19, Displacement sensor; 4-20, Motion track; 4-21, Roller; 4-22, Fixing component; 4-23, Air inlet; 4-24, Airbag; 4-25, Rubber storage bag; 4-26, Overall frame; 4-27, Steel cable winch; 4-28, Winch shaft. Detailed Implementation
[0034] The following is combined with Figures 1 to 7 The specific embodiments of this utility model will be described in detail below. In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.
[0035] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of this utility model, unless otherwise stated, "a plurality of" means two or more.
[0036] It should be noted that the circuit connections of the camera, controller and electrical communication module, gas supply module, winch traction module, wellhead adaptation adjustment device and motor involved in this utility model all adopt conventional circuit connection methods and do not involve any innovation.
[0037] Example
[0038] like Figure 1 , Figure 2 and Figure 7 As shown, a deep well rescue device includes: a fixed tripod 1 and a rescue robot 4. The rescue robot 4 includes: a main frame 4-26, a winch traction module 4-1, a clamping device 4-8, a wellhead adaptation adjustment device 4-11, a clamping plate insertion angle adjustment device 4-5, and a controller. Figure 1 , Figure 2 and Figure 3 As shown, the winch traction module 4-1 includes: a steel cable winch 4-27 and a rescue steel cable 2. The steel cable winch 4-27 is mounted on the overall frame 4-26 via a winch shaft 4-28. The winch shaft 4-28 of the steel cable winch 4-27 is connected to a winch drive motor 4-4. The rescue steel cable 2 is wound around the steel cable winch 4-27, and its two ends are connected to the fixed tripod 1 and the steel cable winch 4-27, respectively. Figure 1 and Figure 5 As shown, the clamping device 4-8 includes: two clamping plates 4-7 and two airbags 4-24, as... Figure 4 As shown, each clamping plate 4-7 has a through groove; two airbags 4-24 are correspondingly mounted on the two clamping plates 4-7 via fasteners 4-22, and the airbags 4-24 are inflated and deflated via the air supply module 4-2; the fasteners 4-22 are bolts used to fix the airbags 4-24 to the clamping plates 4-7. Figure 1 and Figure 3 As shown, the wellhead adaptation adjustment device 4-11 is located at the bottom of the main frame 4-26, and is connected to two clamping plates 4-7 respectively, used to control the distance between the two clamping plates 4-7; as Figure 4 As shown, the clamping plate lower insertion angle adjustment device 4-5 is used to adjust the position of the clamping plate 4-7 on the circumference inside the well. It includes: roller 4-21 and motor 4-18. The roller 4-21 is installed in the through groove and the wheel body contacts the well wall. The motor 4-18 is connected to the shaft of the roller 4-21 and is used to drive the roller 4-21 to rotate. The controller is connected to the gas supply module 4-2, the winch traction module 4-1, the wellhead adaptation adjustment device 4-11 and the motor 4-18 through the electrical control communication module 4-3. The electrical control communication module 4-3 is set on the main frame 4-26.
[0039] In some embodiments, such as Figure 3As shown, the wellhead adaptation adjustment device 4-11 includes: a lead screw assembly, two actuators, and two auxiliary rods. The lead screw assembly includes: a screw 4-12, a slider 4-14, and a guide rod. One end of the screw 4-12 is rotatably connected to the bottom of the main frame 4-26 and is equipped with a screw drive motor 4-15. The slider 4-14 has a threaded hole and is fitted onto the screw 4-12 through the threaded hole. Both ends of the slider 4-14 have through holes. The guide rod is connected to the bottom of the main frame 4-26 and is slidably fitted into the through hole for limiting... The slider 4-14 is rotated; each actuator includes: a first actuator 4-13, a second actuator 4-17, and a connecting rod. One end of the first actuator 4-13 is hinged to the slider 4-14; one end of the second actuator 4-17 is hinged to the main frame 4-26, and the other end is hinged to the clamping plate 4-7; one end of the connecting rod is hinged to the other end of the first actuator 4-13, and the other end is connected to the second actuator 4-17; one end of each auxiliary rod 4-16 is hinged to the clamping plate 4-7, and the other end is hinged to the main frame 4-26.
[0040] During operation, the screw drive motor 4-15 rotates, driving the screw 4-12 to rotate, which causes the slider 4-14 to move up and down, thereby realizing the rotation of the first actuator 4-13. Finally, the clamping plate 4-7 separates and closes to adapt to different sizes of wellheads.
[0041] In some embodiments, such as Figure 4 As shown, the clamping plate insertion angle adjustment device 4-5 also includes a roller control assembly. The roller 4-21 is set in the through slot through the roller control assembly. The roller control assembly includes a motion track 4-20 and a displacement sensor 4-19. The motion track 4-20 is set in the through slot of the clamping plate 4-7. The sliding direction of the motion track 4-20 is the thickness direction of the clamping plate 4-7. A sliding seat is configured on the motion track 4-20. The shaft of the roller 4-21 is rotatably connected to the sliding seat. The displacement sensor 4-19 is set on the sliding seat and is used to monitor the displacement distance of the roller 4-21.
[0042] During operation, the clamp insertion angle adjustment device 4-5 approaches the deep well wall under the action of the wellhead adaptation adjustment device 4-11. After the roller 4-21 contacts the well wall, it moves along the motion track 4-20 due to the pressure of the well wall. The movement distance is measured by the displacement sensor 4-19. When the set distance is reached, the wellhead adaptation adjustment device 4-11 stops. At this time, the roller 4-21 moves circumferentially along the deep well, ultimately adjusting the clamp insertion angle of the rescue robot and thus adjusting the posture of the rescue robot. A return spring is provided between the sliding seat and the motion track 4-20 so that after the motion track 4-20 leaves the well wall, the roller 4-21 can return to its initial position and keep the roller 4-21 abutting against the well wall.
[0043] In some embodiments, such as Figure 1As shown, it also includes: a first camera 4-6 and a second camera 4-9. The first camera 4-6 is set at the bottom of the main frame 4-26; the second camera 4-9 is set at the bottom of the clamping plate 4-7; the first camera 4-6 and the second camera 4-9 are wirelessly connected to the controller and transmit the captured images to the controller. The controller can be connected to an external display to display the images captured by the first camera 4-6 and the second camera 4-9.
[0044] In some embodiments, such as Figure 6 As shown, the airbag 4-24 is housed inside a rubber storage bag 4-25, which has a vertical opening. Before inflation, the airbag 4-24 is stored inside the rubber storage bag 4-25 through the vertical opening. After inflation, the airbag 4-24 is squeezed out from the vertical opening.
[0045] During operation, the uninflated airbag 4-24 is first placed inside the rubber storage bag 4-25, ensuring it doesn't protrude to reduce the thickness of the clamping plate 4-7 after installation. When the rescue robot 4 descends to the bottom of the deep well to secure the trapped person 5, the airbag 4-24 inflates under the control of the air supply module 4-2, squeezing out from the vertical opening of the rubber storage bag 4-25 to secure the trapped person 5. After use, the gas in the airbag 4-24 is released, and the airbag 4-24 is then reinserted into the rubber storage bag 4-25 through the vertical opening.
[0046] In some embodiments, the air supply module 4-2 is mounted on the main frame 4-26 and is connected to the airbag 4-24 via the air pipe 4-10. An air outlet 4-23 is provided on the clamping plate 4-7, and the air outlet 4-23 and the air supply module 4-2 are connected via a pipe.
[0047] Using the above-mentioned rescue equipment for rescue includes the following steps:
[0048] A fixed tripod 1 is erected at the wellhead of the trapped deep well 3 to ensure that it is fixed on the ground 6 and has sufficient height to place the rescue robot 4.
[0049] Secure the rescue cable 2 on the rescue robot 4 to the top of the tripod 1, and lower the rescue robot 4 into the trapped deep well 3 using the gripping devices 4-8 downwards.
[0050] Install the air pipe 4-10 onto the rescue robot 4, turn on the air supply module 4-2, and deliver fresh air through the air pipe 4-10 to the air inlet 4-23 of the rescue robot 4. Control the rescue robot controller to operate the winch traction module 4-1 to rotate and lower the rescue robot 4 to the location of the trapped person 5. During this process, monitor the posture and status of the trapped person 5 through the first camera 4-6 and the second camera 4-9.
[0051] Control the wellhead adaptation adjustment device 4-11 so that the two side clamps 4-7 open and fit against the well wall inside the trapped deep well 3;
[0052] Observe the posture of the trapped person 5 in the well, adjust the clamping plate insertion angle adjustment device 4-5, find the angle and position required to lower the clamping plate 4-7 below the trapped person 5, and control the winch traction module 4-1 to insert the clamping plate 4-7 below the trapped person 5; during this period, the insertion position is monitored through the second camera 4-9.
[0053] The control air supply module 4-2 supplies air to the airbag 4-24 in the clamping device 4-8 at a certain pressure, so that the airbag 4-24 inflates and expands out of the rubber storage bag 4-25, and the trapped person 5 is fixed by the airbag 4-24 on the two clamping plates 4-7.
[0054] The wellhead adaptation adjustment device 4-11 is controlled to reduce the distance between the two clamping plates 4-7. Due to the contraction at the top of the clamping plates and the expansion at the bottom due to the inflation of the airbag 4-24, the contraction of the clamping plates 4-7 is uneven, thus increasing the contraction distance at the top of the clamping plates 4-7. This creates a certain inclination to facilitate the lifting of the rescue robot 4 out of the deep well. The bottom of the clamping plates 4-7 rests against the well wall of the trapped deep well 3. Combined with the fixing and compression effect of the airbag 4-24, this increases the fixation effect on the trapped person 5. Then, the winch traction module 4-1 is controlled to retract the rescue steel cable 2, slowly lifting the rescue robot 4 and the trapped person 5 together out of the wellhead. At the same time, the airbag 4-24 part of the clamping plates 4-7 is still in the trapped deep well 3. After the rescuer grabs the trapped person 5, the air supply module 4-2 is controlled to release air from the airbag 4-24, rescuing the trapped person 5 from the rescue robot 4, thus completing the rescue.
[0055] The above-disclosed embodiments are merely preferred embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.
Claims
1. A deep well rescue device, characterized in that, include: A tripod (1) and a rescue robot (4) are fixed together, the rescue robot (4) comprising: The main frame (4-26) is suspended below the fixed tripod (1) by a winch traction module (4-1); The clamping device (4-8) includes: two clamping plates (4-7), each of which has a through groove; and two airbags (4-24), which are respectively disposed near the bottom of the two clamping plates (4-7) and are inflated and deflated by an air supply module (4-2). Wellhead adaptation adjustment device (4-11) is set at the bottom of the main frame (4-26) and is connected to the two clamping plates (4-7) respectively, for controlling the distance between the two clamping plates (4-7); The clamping plate lower insertion angle adjustment device (4-5) is used to adjust the position of the clamping plate (4-7) on the circumference inside the well, including: a roller (4-21) installed in the through groove, the wheel body of the roller (4-21) contacting the well wall; and a motor (4-18) for driving the roller (4-21) to rotate. The controller is mounted on the main frame (4-26) and is connected and communicates with the gas supply module (4-2), winch traction module (4-1), wellhead adaptation adjustment device (4-11) and motor (4-18).
2. The deep well rescue device according to claim 1, characterized in that, The wellhead adaptation and adjustment device (4-11) includes: The lead screw assembly includes: a screw (4-12), one end of which is rotatably connected to the bottom of the main frame (4-26) and equipped with a screw drive motor (4-15); a slider (4-14), which has a threaded hole and is sleeved on the screw (4-12) through the threaded hole, and both ends of the slider (4-14) have through holes; and a guide rod, which is connected to the bottom of the main frame (4-26) and slidably sleeved in the through hole to restrict the rotation of the slider (4-14). Two actuators, each actuator comprising: a first actuator (4-13), one end of which is hinged to the slider (4-14); a second actuator (4-17), one end of which is hinged to the main frame (4-26) and the other end of which is hinged to the clamping plate (4-7); and a connecting rod, one end of which is hinged to the other end of the first actuator (4-13) and the other end of which is connected to the second actuator (4-17); Two auxiliary rods (4-16), one end of each auxiliary rod (4-16) is hinged to the clamping plate (4-7), and the other end is hinged to the main frame (4-26).
3. The deep well rescue device according to claim 1, characterized in that, The winch traction module (4-1) includes: a steel cable winch (4-27), which is mounted on the main frame (4-26) via a winch shaft (4-28); a rescue steel cable (2), which is wound around the steel cable winch (4-27), with both ends connected to the fixed tripod (1) and the steel cable winch (4-27) respectively, and the winch shaft (4-28) of the steel cable winch (4-27) is connected to the winch drive motor (4-4).
4. A deep well rescue device according to claim 1, characterized in that, Also includes: The first camera (4-6) is located at the bottom of the main frame (4-26); The second camera (4-9) is set at the bottom of the clamp (4-7); the first camera (4-6) and the second camera (4-9) are wirelessly connected to the controller and transmit the captured images to the controller. The controller can be connected to an external display to display the images captured by the first camera (4-6) and the second camera (4-9).
5. A deep well rescue device according to claim 1, characterized in that, The airbag (4-24) is housed in a rubber storage bag (4-25), and the rubber storage bag (4-25) has a vertical opening.
6. A deep well rescue device according to claim 1, characterized in that, The air supply module (4-2) is installed on the main frame (4-26) and is connected to the air bag (4-24) through the air pipe (4-10). An air inlet (4-23) is opened on the clamp (4-7), and the air inlet (4-23) and the air supply module (4-2) are connected through a pipe.